Heels are pinned to the ground with Limb IK? Visual error for mirroring feet

Here is my issue. I am creating this rig and for some reason after I activate Limbs IK, the heel AND toe points are stuck to the ground and I get this weird distortion if I drag my draggable.
Here is my setup:


I am not sure how to handle the fact that I have two different feet directions. Maybe that's what is messing something up. But I need to have one puppet who can turn his feet both ways (mirroring).
Any advice is much appreciated, thank you.
Also as a second question, is there any handler for easy rotation of hands etc. in the Scene editor? What's the best way to go about to animate hands and feet rotation?